Derivative tests, and re-formatting (and getting rid of gtsam::/std::)
dellaert
parent
ed267ed69d
commit
4badb4a10f
File diff suppressed because it is too large
Load Diff
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@ -32,22 +32,24 @@ using namespace std;
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using namespace boost::assign;
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using namespace gtsam;
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static bool isDebugTest = true;
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static bool isDebugTest = false;
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// make a realistic calibration matrix
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static double fov = 60; // degrees
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static size_t w=640,h=480;
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static size_t w = 640, h = 480;
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static double b = 1;
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static Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(fov,w,h,b));
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static Cal3_S2Stereo::shared_ptr K2(new Cal3_S2Stereo(1500, 1200, 0, 640, 480,b));
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static boost::shared_ptr<Cal3Bundler> Kbundler(new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000));
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static Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(fov, w, h, b));
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static Cal3_S2Stereo::shared_ptr K2(
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new Cal3_S2Stereo(1500, 1200, 0, 640, 480, b));
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static boost::shared_ptr<Cal3Bundler> Kbundler(
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new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000));
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static double rankTol = 1.0;
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static double linThreshold = -1.0;
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// static bool manageDegeneracy = true;
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// Create a noise model for the pixel error
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static SharedNoiseModel model(noiseModel::Unit::Create(3));
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static SharedNoiseModel model(noiseModel::Isotropic::Sigma(3, 0.1));
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// Convenience for named keys
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using symbol_shorthand::X;
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@ -60,14 +62,14 @@ static Symbol x3('X', 3);
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static Key poseKey1(x1);
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static StereoPoint2 measurement1(323.0, 300.0, 240.0); //potentially use more reasonable measurement value?
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static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
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static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2),
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Point3(0.25, -0.10, 1.0));
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typedef SmartStereoProjectionPoseFactor<Cal3_S2Stereo> SmartFactor;
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typedef SmartStereoProjectionPoseFactor<Cal3Bundler> SmartFactorBundler;
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vector<StereoPoint2> stereo_projectToMultipleCameras(
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const StereoCamera& cam1, const StereoCamera& cam2,
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const StereoCamera& cam3, Point3 landmark){
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vector<StereoPoint2> stereo_projectToMultipleCameras(const StereoCamera& cam1,
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const StereoCamera& cam2, const StereoCamera& cam3, Point3 landmark) {
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vector<StereoPoint2> measurements_cam;
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@ -83,7 +85,7 @@ vector<StereoPoint2> stereo_projectToMultipleCameras(
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/* ************************************************************************* */
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TEST( SmartStereoProjectionPoseFactor, Constructor) {
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fprintf(stderr,"Test 1 Complete");
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fprintf(stderr, "Test 1 Complete");
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SmartFactor::shared_ptr factor1(new SmartFactor());
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}
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@ -108,7 +110,8 @@ TEST( SmartStereoProjectionPoseFactor, Constructor4) {
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TEST( SmartStereoProjectionPoseFactor, ConstructorWithTransform) {
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bool manageDegeneracy = true;
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bool enableEPI = false;
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SmartFactor factor1(rankTol, linThreshold, manageDegeneracy, enableEPI, body_P_sensor1);
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SmartFactor factor1(rankTol, linThreshold, manageDegeneracy, enableEPI,
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body_P_sensor1);
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factor1.add(measurement1, poseKey1, model, K);
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}
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@ -124,15 +127,16 @@ TEST( SmartStereoProjectionPoseFactor, Equals ) {
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}
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/* *************************************************************************/
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TEST_UNSAFE( SmartStereoProjectionPoseFactor, noiseless ){
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TEST_UNSAFE( SmartStereoProjectionPoseFactor, noiseless ) {
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// cout << " ************************ SmartStereoProjectionPoseFactor: noisy ****************************" << endl;
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
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Pose3 level_pose = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2),
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Point3(0, 0, 1));
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StereoCamera level_camera(level_pose, K2);
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// create second camera 1 meter to the right of first camera
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Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0));
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Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1, 0, 0));
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StereoCamera level_camera_right(level_pose_right, K2);
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// landmark ~5 meters infront of camera
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@ -164,75 +168,78 @@ TEST_UNSAFE( SmartStereoProjectionPoseFactor, noiseless ){
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}
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/* *************************************************************************/
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TEST( SmartStereoProjectionPoseFactor, noisy ){
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TEST( SmartStereoProjectionPoseFactor, noisy ) {
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// cout << " ************************ SmartStereoProjectionPoseFactor: noisy ****************************" << endl;
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
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Pose3 level_pose = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2),
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Point3(0, 0, 1));
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StereoCamera level_camera(level_pose, K2);
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// create second camera 1 meter to the right of first camera
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Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1,0,0));
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Pose3 level_pose_right = level_pose * Pose3(Rot3(), Point3(1, 0, 0));
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StereoCamera level_camera_right(level_pose_right, K2);
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// landmark ~5 meters infront of camera
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Point3 landmark(5, 0.5, 1.2);
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// 1. Project two landmarks into two cameras and triangulate
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StereoPoint2 pixelError(0.2,0.2,0);
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StereoPoint2 pixelError(0.2, 0.2, 0);
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StereoPoint2 level_uv = level_camera.project(landmark) + pixelError;
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StereoPoint2 level_uv_right = level_camera_right.project(landmark);
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Values values;
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values.insert(x1, level_pose);
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Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.5,0.1,0.3));
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Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 10, 0., -M_PI / 10),
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Point3(0.5, 0.1, 0.3));
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values.insert(x2, level_pose_right.compose(noise_pose));
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SmartFactor::shared_ptr factor1(new SmartFactor());
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factor1->add(level_uv, x1, model, K);
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factor1->add(level_uv_right, x2, model, K);
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double actualError1= factor1->error(values);
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double actualError1 = factor1->error(values);
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SmartFactor::shared_ptr factor2(new SmartFactor());
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vector<StereoPoint2> measurements;
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measurements.push_back(level_uv);
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measurements.push_back(level_uv_right);
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std::vector< SharedNoiseModel > noises;
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vector<SharedNoiseModel> noises;
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noises.push_back(model);
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noises.push_back(model);
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std::vector< boost::shared_ptr<Cal3_S2Stereo> > Ks; ///< shared pointer to calibration object (one for each camera)
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vector<boost::shared_ptr<Cal3_S2Stereo> > Ks; ///< shared pointer to calibration object (one for each camera)
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Ks.push_back(K);
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Ks.push_back(K);
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std::vector<Key> views;
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vector<Key> views;
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views.push_back(x1);
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views.push_back(x2);
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factor2->add(measurements, views, noises, Ks);
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double actualError2= factor2->error(values);
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double actualError2 = factor2->error(values);
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DOUBLES_EQUAL(actualError1, actualError2, 1e-7);
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}
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/* *************************************************************************/
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TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ){
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cout << " ************************ SmartStereoProjectionPoseFactor: 3 cams + 3 landmarks **********************" << endl;
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TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ) {
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cout
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<< " ************************ SmartStereoProjectionPoseFactor: 3 cams + 3 landmarks **********************"
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<< endl;
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
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Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
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StereoCamera cam1(pose1, K2);
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// create second camera 1 meter to the right of first camera
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Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0));
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Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
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StereoCamera cam2(pose2, K2);
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// create third camera 1 meter above the first camera
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Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0));
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Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0));
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StereoCamera cam3(pose3, K2);
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// three landmarks ~5 meters infront of camera
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@ -241,11 +248,14 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ){
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Point3 landmark3(3, 0, 3.0);
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// 1. Project three landmarks into three cameras and triangulate
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vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark1);
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vector<StereoPoint2> measurements_cam2 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark2);
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vector<StereoPoint2> measurements_cam3 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark3);
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vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1,
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cam2, cam3, landmark1);
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vector<StereoPoint2> measurements_cam2 = stereo_projectToMultipleCameras(cam1,
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cam2, cam3, landmark2);
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vector<StereoPoint2> measurements_cam3 = stereo_projectToMultipleCameras(cam1,
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cam2, cam3, landmark3);
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std::vector<Key> views;
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vector<Key> views;
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views.push_back(x1);
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views.push_back(x2);
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views.push_back(x3);
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@ -268,21 +278,25 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ){
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graph.push_back(PriorFactor<Pose3>(x1, pose1, noisePrior));
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graph.push_back(PriorFactor<Pose3>(x2, pose2, noisePrior));
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// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
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Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/100, 0., -M_PI/100), gtsam::Point3(0.1,0.1,0.1)); // smaller noise
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// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
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Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100),
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Point3(0.1, 0.1, 0.1)); // smaller noise
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Values values;
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values.insert(x1, pose1);
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values.insert(x2, pose2);
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// initialize third pose with some noise, we expect it to move back to original pose3
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values.insert(x3, pose3*noise_pose);
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if(isDebugTest) values.at<Pose3>(x3).print("Smart: Pose3 before optimization: ");
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values.insert(x3, pose3 * noise_pose);
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if (isDebugTest)
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values.at<Pose3>(x3).print("Smart: Pose3 before optimization: ");
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LevenbergMarquardtParams params;
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if(isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
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if(isDebugTest) params.verbosity = NonlinearOptimizerParams::ERROR;
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if (isDebugTest)
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params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
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if (isDebugTest)
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params.verbosity = NonlinearOptimizerParams::ERROR;
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Values result;
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gttic_(SmartStereoProjectionPoseFactor);
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gttic_ (SmartStereoProjectionPoseFactor);
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LevenbergMarquardtOptimizer optimizer(graph, values, params);
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result = optimizer.optimize();
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gttoc_(SmartStereoProjectionPoseFactor);
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@ -292,28 +306,29 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ){
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// VectorValues delta = GFG->optimize();
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// result.print("results of 3 camera, 3 landmark optimization \n");
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if(isDebugTest) result.at<Pose3>(x3).print("Smart: Pose3 after optimization: ");
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EXPECT(assert_equal(pose3,result.at<Pose3>(x3)));
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if(isDebugTest) tictoc_print_();
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if (isDebugTest)
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result.at<Pose3>(x3).print("Smart: Pose3 after optimization: ");
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EXPECT(assert_equal(pose3, result.at<Pose3>(x3)));
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if (isDebugTest)
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tictoc_print_();
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}
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/* *************************************************************************/
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TEST( SmartStereoProjectionPoseFactor, jacobianSVD ){
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TEST( SmartStereoProjectionPoseFactor, jacobianSVD ) {
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std::vector<Key> views;
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vector<Key> views;
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views.push_back(x1);
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views.push_back(x2);
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views.push_back(x3);
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
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Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
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StereoCamera cam1(pose1, K);
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// create second camera 1 meter to the right of first camera
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Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0));
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Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
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StereoCamera cam2(pose2, K);
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// create third camera 1 meter above the first camera
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Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0));
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Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0));
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StereoCamera cam3(pose3, K);
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// three landmarks ~5 meters infront of camera
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@ -322,17 +337,23 @@ TEST( SmartStereoProjectionPoseFactor, jacobianSVD ){
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Point3 landmark3(3, 0, 3.0);
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// 1. Project three landmarks into three cameras and triangulate
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vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark1);
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vector<StereoPoint2> measurements_cam2 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark2);
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vector<StereoPoint2> measurements_cam3 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark3);
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vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1,
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cam2, cam3, landmark1);
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vector<StereoPoint2> measurements_cam2 = stereo_projectToMultipleCameras(cam1,
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cam2, cam3, landmark2);
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vector<StereoPoint2> measurements_cam3 = stereo_projectToMultipleCameras(cam1,
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cam2, cam3, landmark3);
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SmartFactor::shared_ptr smartFactor1(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD));
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SmartFactor::shared_ptr smartFactor1(
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new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD));
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smartFactor1->add(measurements_cam1, views, model, K);
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SmartFactor::shared_ptr smartFactor2(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD));
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SmartFactor::shared_ptr smartFactor2(
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new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD));
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smartFactor2->add(measurements_cam2, views, model, K);
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SmartFactor::shared_ptr smartFactor3(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD));
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SmartFactor::shared_ptr smartFactor3(
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new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD));
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smartFactor3->add(measurements_cam3, views, model, K);
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const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
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@ -344,38 +365,39 @@ TEST( SmartStereoProjectionPoseFactor, jacobianSVD ){
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graph.push_back(PriorFactor<Pose3>(x1, pose1, noisePrior));
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graph.push_back(PriorFactor<Pose3>(x2, pose2, noisePrior));
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// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
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Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/100, 0., -M_PI/100), gtsam::Point3(0.1,0.1,0.1)); // smaller noise
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// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
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Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100),
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Point3(0.1, 0.1, 0.1)); // smaller noise
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Values values;
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values.insert(x1, pose1);
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values.insert(x2, pose2);
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values.insert(x3, pose3*noise_pose);
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values.insert(x3, pose3 * noise_pose);
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LevenbergMarquardtParams params;
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Values result;
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LevenbergMarquardtOptimizer optimizer(graph, values, params);
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result = optimizer.optimize();
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EXPECT(assert_equal(pose3,result.at<Pose3>(x3)));
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EXPECT(assert_equal(pose3, result.at<Pose3>(x3)));
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}
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/* *************************************************************************/
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TEST( SmartStereoProjectionPoseFactor, landmarkDistance ){
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TEST( SmartStereoProjectionPoseFactor, landmarkDistance ) {
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double excludeLandmarksFutherThanDist = 2;
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std::vector<Key> views;
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vector<Key> views;
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views.push_back(x1);
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views.push_back(x2);
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views.push_back(x3);
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// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
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Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
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Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
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StereoCamera cam1(pose1, K);
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// create second camera 1 meter to the right of first camera
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Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0));
|
||||
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
|
||||
StereoCamera cam2(pose2, K);
|
||||
// create third camera 1 meter above the first camera
|
||||
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0));
|
||||
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0));
|
||||
StereoCamera cam3(pose3, K);
|
||||
|
||||
// three landmarks ~5 meters infront of camera
|
||||
|
|
@ -384,18 +406,26 @@ TEST( SmartStereoProjectionPoseFactor, landmarkDistance ){
|
|||
Point3 landmark3(3, 0, 3.0);
|
||||
|
||||
// 1. Project three landmarks into three cameras and triangulate
|
||||
vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark1);
|
||||
vector<StereoPoint2> measurements_cam2 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark2);
|
||||
vector<StereoPoint2> measurements_cam3 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark3);
|
||||
vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1,
|
||||
cam2, cam3, landmark1);
|
||||
vector<StereoPoint2> measurements_cam2 = stereo_projectToMultipleCameras(cam1,
|
||||
cam2, cam3, landmark2);
|
||||
vector<StereoPoint2> measurements_cam3 = stereo_projectToMultipleCameras(cam1,
|
||||
cam2, cam3, landmark3);
|
||||
|
||||
|
||||
SmartFactor::shared_ptr smartFactor1(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, excludeLandmarksFutherThanDist));
|
||||
SmartFactor::shared_ptr smartFactor1(
|
||||
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
|
||||
excludeLandmarksFutherThanDist));
|
||||
smartFactor1->add(measurements_cam1, views, model, K);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor2(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, excludeLandmarksFutherThanDist));
|
||||
SmartFactor::shared_ptr smartFactor2(
|
||||
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
|
||||
excludeLandmarksFutherThanDist));
|
||||
smartFactor2->add(measurements_cam2, views, model, K);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor3(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD, excludeLandmarksFutherThanDist));
|
||||
SmartFactor::shared_ptr smartFactor3(
|
||||
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
|
||||
excludeLandmarksFutherThanDist));
|
||||
smartFactor3->add(measurements_cam3, views, model, K);
|
||||
|
||||
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
||||
|
|
@ -407,40 +437,41 @@ TEST( SmartStereoProjectionPoseFactor, landmarkDistance ){
|
|||
graph.push_back(PriorFactor<Pose3>(x1, pose1, noisePrior));
|
||||
graph.push_back(PriorFactor<Pose3>(x2, pose2, noisePrior));
|
||||
|
||||
// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
|
||||
Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/100, 0., -M_PI/100), gtsam::Point3(0.1,0.1,0.1)); // smaller noise
|
||||
// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
|
||||
Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100),
|
||||
Point3(0.1, 0.1, 0.1)); // smaller noise
|
||||
Values values;
|
||||
values.insert(x1, pose1);
|
||||
values.insert(x2, pose2);
|
||||
values.insert(x3, pose3*noise_pose);
|
||||
values.insert(x3, pose3 * noise_pose);
|
||||
|
||||
// All factors are disabled and pose should remain where it is
|
||||
LevenbergMarquardtParams params;
|
||||
Values result;
|
||||
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
||||
result = optimizer.optimize();
|
||||
EXPECT(assert_equal(values.at<Pose3>(x3),result.at<Pose3>(x3)));
|
||||
EXPECT(assert_equal(values.at<Pose3>(x3), result.at<Pose3>(x3)));
|
||||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ){
|
||||
TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) {
|
||||
|
||||
double excludeLandmarksFutherThanDist = 1e10;
|
||||
double dynamicOutlierRejectionThreshold = 1; // max 1 pixel of average reprojection error
|
||||
|
||||
std::vector<Key> views;
|
||||
vector<Key> views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
|
||||
// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
|
||||
Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
|
||||
Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
|
||||
StereoCamera cam1(pose1, K);
|
||||
// create second camera 1 meter to the right of first camera
|
||||
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0));
|
||||
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
|
||||
StereoCamera cam2(pose2, K);
|
||||
// create third camera 1 meter above the first camera
|
||||
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0));
|
||||
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0));
|
||||
StereoCamera cam3(pose3, K);
|
||||
|
||||
// three landmarks ~5 meters infront of camera
|
||||
|
|
@ -450,27 +481,34 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ){
|
|||
Point3 landmark4(5, -0.5, 1);
|
||||
|
||||
// 1. Project four landmarks into three cameras and triangulate
|
||||
vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark1);
|
||||
vector<StereoPoint2> measurements_cam2 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark2);
|
||||
vector<StereoPoint2> measurements_cam3 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark3);
|
||||
vector<StereoPoint2> measurements_cam4 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark4);
|
||||
vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1,
|
||||
cam2, cam3, landmark1);
|
||||
vector<StereoPoint2> measurements_cam2 = stereo_projectToMultipleCameras(cam1,
|
||||
cam2, cam3, landmark2);
|
||||
vector<StereoPoint2> measurements_cam3 = stereo_projectToMultipleCameras(cam1,
|
||||
cam2, cam3, landmark3);
|
||||
vector<StereoPoint2> measurements_cam4 = stereo_projectToMultipleCameras(cam1,
|
||||
cam2, cam3, landmark4);
|
||||
|
||||
measurements_cam4.at(0) = measurements_cam4.at(0) + StereoPoint2(10, 10, 1); // add outlier
|
||||
|
||||
measurements_cam4.at(0) = measurements_cam4.at(0) + StereoPoint2(10,10,1); // add outlier
|
||||
|
||||
SmartFactor::shared_ptr smartFactor1(new SmartFactor(1, -1, false, false, boost::none,
|
||||
JACOBIAN_SVD, excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
|
||||
SmartFactor::shared_ptr smartFactor1(
|
||||
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
|
||||
excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
|
||||
smartFactor1->add(measurements_cam1, views, model, K);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor2(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
|
||||
SmartFactor::shared_ptr smartFactor2(
|
||||
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
|
||||
excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
|
||||
smartFactor2->add(measurements_cam2, views, model, K);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor3(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
|
||||
SmartFactor::shared_ptr smartFactor3(
|
||||
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
|
||||
excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
|
||||
smartFactor3->add(measurements_cam3, views, model, K);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor4(new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
|
||||
SmartFactor::shared_ptr smartFactor4(
|
||||
new SmartFactor(1, -1, false, false, boost::none, JACOBIAN_SVD,
|
||||
excludeLandmarksFutherThanDist, dynamicOutlierRejectionThreshold));
|
||||
smartFactor4->add(measurements_cam4, views, model, K);
|
||||
|
||||
|
|
@ -484,7 +522,8 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ){
|
|||
graph.push_back(PriorFactor<Pose3>(x1, pose1, noisePrior));
|
||||
graph.push_back(PriorFactor<Pose3>(x2, pose2, noisePrior));
|
||||
|
||||
Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/100, 0., -M_PI/100), gtsam::Point3(0.1,0.1,0.1)); // smaller noise
|
||||
Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100),
|
||||
Point3(0.1, 0.1, 0.1)); // smaller noise
|
||||
Values values;
|
||||
values.insert(x1, pose1);
|
||||
values.insert(x2, pose2);
|
||||
|
|
@ -495,19 +534,19 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ){
|
|||
Values result;
|
||||
LevenbergMarquardtOptimizer optimizer(graph, values, params);
|
||||
result = optimizer.optimize();
|
||||
EXPECT(assert_equal(pose3,result.at<Pose3>(x3)));
|
||||
EXPECT(assert_equal(pose3, result.at<Pose3>(x3)));
|
||||
}
|
||||
//
|
||||
///* *************************************************************************/
|
||||
//TEST( SmartStereoProjectionPoseFactor, jacobianQ ){
|
||||
//
|
||||
// std::vector<Key> views;
|
||||
// vector<Key> views;
|
||||
// views.push_back(x1);
|
||||
// views.push_back(x2);
|
||||
// views.push_back(x3);
|
||||
//
|
||||
// // create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
|
||||
// Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
|
||||
// Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1));
|
||||
// StereoCamera cam1(pose1, K);
|
||||
// // create second camera 1 meter to the right of first camera
|
||||
// Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0));
|
||||
|
|
@ -546,8 +585,8 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ){
|
|||
// graph.push_back(PriorFactor<Pose3>(x1, pose1, noisePrior));
|
||||
// graph.push_back(PriorFactor<Pose3>(x2, pose2, noisePrior));
|
||||
//
|
||||
// // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
|
||||
// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/100, 0., -M_PI/100), gtsam::Point3(0.1,0.1,0.1)); // smaller noise
|
||||
// // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
|
||||
// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/100, 0., -M_PI/100), Point3(0.1,0.1,0.1)); // smaller noise
|
||||
// Values values;
|
||||
// values.insert(x1, pose1);
|
||||
// values.insert(x2, pose2);
|
||||
|
|
@ -564,13 +603,13 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ){
|
|||
//TEST( SmartStereoProjectionPoseFactor, 3poses_projection_factor ){
|
||||
// // cout << " ************************ Normal ProjectionFactor: 3 cams + 3 landmarks **********************" << endl;
|
||||
//
|
||||
// std::vector<Key> views;
|
||||
// vector<Key> views;
|
||||
// views.push_back(x1);
|
||||
// views.push_back(x2);
|
||||
// views.push_back(x3);
|
||||
//
|
||||
// // create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
|
||||
// Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
|
||||
// Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1));
|
||||
// StereoCamera cam1(pose1, K2);
|
||||
//
|
||||
// // create second camera 1 meter to the right of first camera
|
||||
|
|
@ -606,7 +645,7 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ){
|
|||
// graph.push_back(PriorFactor<Pose3>(x1, pose1, noisePrior));
|
||||
// graph.push_back(PriorFactor<Pose3>(x2, pose2, noisePrior));
|
||||
//
|
||||
// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.5,0.1,0.3));
|
||||
// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3));
|
||||
// Values values;
|
||||
// values.insert(x1, pose1);
|
||||
// values.insert(x2, pose2);
|
||||
|
|
@ -627,23 +666,23 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ){
|
|||
//}
|
||||
//
|
||||
/* *************************************************************************/
|
||||
TEST( SmartStereoProjectionPoseFactor, CheckHessian){
|
||||
TEST( SmartStereoProjectionPoseFactor, CheckHessian) {
|
||||
|
||||
std::vector<Key> views;
|
||||
vector<Key> views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
|
||||
// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
|
||||
Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
|
||||
Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
|
||||
StereoCamera cam1(pose1, K);
|
||||
|
||||
// create second camera 1 meter to the right of first camera
|
||||
Pose3 pose2 = pose1 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0,0,0));
|
||||
// create second camera
|
||||
Pose3 pose2 = pose1 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
|
||||
StereoCamera cam2(pose2, K);
|
||||
|
||||
// create third camera 1 meter above the first camera
|
||||
Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0,0,0));
|
||||
// create third camera
|
||||
Pose3 pose3 = pose2 * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
|
||||
StereoCamera cam3(pose3, K);
|
||||
|
||||
// three landmarks ~5 meters infront of camera
|
||||
|
|
@ -651,12 +690,15 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian){
|
|||
Point3 landmark2(5, -0.5, 1.2);
|
||||
Point3 landmark3(3, 0, 3.0);
|
||||
|
||||
// 1. Project three landmarks into three cameras and triangulate
|
||||
vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark1);
|
||||
vector<StereoPoint2> measurements_cam2 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark2);
|
||||
vector<StereoPoint2> measurements_cam3 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark3);
|
||||
|
||||
// Project three landmarks into three cameras and triangulate
|
||||
vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1,
|
||||
cam2, cam3, landmark1);
|
||||
vector<StereoPoint2> measurements_cam2 = stereo_projectToMultipleCameras(cam1,
|
||||
cam2, cam3, landmark2);
|
||||
vector<StereoPoint2> measurements_cam3 = stereo_projectToMultipleCameras(cam1,
|
||||
cam2, cam3, landmark3);
|
||||
|
||||
// Create smartfactors
|
||||
double rankTol = 10;
|
||||
|
||||
SmartFactor::shared_ptr smartFactor1(new SmartFactor(rankTol));
|
||||
|
|
@ -668,38 +710,47 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian){
|
|||
SmartFactor::shared_ptr smartFactor3(new SmartFactor(rankTol));
|
||||
smartFactor3->add(measurements_cam3, views, model, K);
|
||||
|
||||
// Create graph to optimize
|
||||
NonlinearFactorGraph graph;
|
||||
graph.push_back(smartFactor1);
|
||||
graph.push_back(smartFactor2);
|
||||
graph.push_back(smartFactor3);
|
||||
|
||||
// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
|
||||
Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/100, 0., -M_PI/100), gtsam::Point3(0.1,0.1,0.1)); // smaller noise
|
||||
Values values;
|
||||
values.insert(x1, pose1);
|
||||
values.insert(x2, pose2);
|
||||
// initialize third pose with some noise, we expect it to move back to original pose3
|
||||
values.insert(x3, pose3*noise_pose);
|
||||
if(isDebugTest) values.at<Pose3>(x3).print("Smart: Pose3 before optimization: ");
|
||||
Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100),
|
||||
Point3(0.1, 0.1, 0.1)); // smaller noise
|
||||
values.insert(x3, pose3 * noise_pose);
|
||||
if (isDebugTest)
|
||||
values.at<Pose3>(x3).print("Smart: Pose3 before optimization: ");
|
||||
|
||||
boost::shared_ptr<GaussianFactor> hessianFactor1 = smartFactor1->linearize(values);
|
||||
boost::shared_ptr<GaussianFactor> hessianFactor2 = smartFactor2->linearize(values);
|
||||
boost::shared_ptr<GaussianFactor> hessianFactor3 = smartFactor3->linearize(values);
|
||||
// TODO: next line throws Cheirality exception on Mac
|
||||
boost::shared_ptr<GaussianFactor> hessianFactor1 = smartFactor1->linearize(
|
||||
values);
|
||||
boost::shared_ptr<GaussianFactor> hessianFactor2 = smartFactor2->linearize(
|
||||
values);
|
||||
boost::shared_ptr<GaussianFactor> hessianFactor3 = smartFactor3->linearize(
|
||||
values);
|
||||
|
||||
Matrix CumulativeInformation = hessianFactor1->information() + hessianFactor2->information() + hessianFactor3->information();
|
||||
Matrix CumulativeInformation = hessianFactor1->information()
|
||||
+ hessianFactor2->information() + hessianFactor3->information();
|
||||
|
||||
boost::shared_ptr<GaussianFactorGraph> GaussianGraph = graph.linearize(values);
|
||||
boost::shared_ptr<GaussianFactorGraph> GaussianGraph = graph.linearize(
|
||||
values);
|
||||
Matrix GraphInformation = GaussianGraph->hessian().first;
|
||||
|
||||
// Check Hessian
|
||||
EXPECT(assert_equal(GraphInformation, CumulativeInformation, 1e-8));
|
||||
|
||||
Matrix AugInformationMatrix = hessianFactor1->augmentedInformation() +
|
||||
hessianFactor2->augmentedInformation() + hessianFactor3->augmentedInformation();
|
||||
Matrix AugInformationMatrix = hessianFactor1->augmentedInformation()
|
||||
+ hessianFactor2->augmentedInformation()
|
||||
+ hessianFactor3->augmentedInformation();
|
||||
|
||||
// Check Information vector
|
||||
// cout << AugInformationMatrix.size() << endl;
|
||||
Vector InfoVector = AugInformationMatrix.block(0,18,18,1); // 18x18 Hessian + information vector
|
||||
Vector InfoVector = AugInformationMatrix.block(0, 18, 18, 1); // 18x18 Hessian + information vector
|
||||
|
||||
// Check Hessian
|
||||
EXPECT(assert_equal(InfoVector, GaussianGraph->hessian().second, 1e-8));
|
||||
|
|
@ -709,13 +760,13 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian){
|
|||
//TEST( SmartStereoProjectionPoseFactor, 3poses_2land_rotation_only_smart_projection_factor ){
|
||||
// // cout << " ************************ SmartStereoProjectionPoseFactor: 3 cams + 2 landmarks: Rotation Only**********************" << endl;
|
||||
//
|
||||
// std::vector<Key> views;
|
||||
// vector<Key> views;
|
||||
// views.push_back(x1);
|
||||
// views.push_back(x2);
|
||||
// views.push_back(x3);
|
||||
//
|
||||
// // create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
|
||||
// Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
|
||||
// Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1));
|
||||
// StereoCamera cam1(pose1, K2);
|
||||
//
|
||||
// // create second camera 1 meter to the right of first camera
|
||||
|
|
@ -745,7 +796,7 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian){
|
|||
//
|
||||
// const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
||||
// const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3, 0.10);
|
||||
// Point3 positionPrior = gtsam::Point3(0,0,1);
|
||||
// Point3 positionPrior = Point3(0,0,1);
|
||||
//
|
||||
// NonlinearFactorGraph graph;
|
||||
// graph.push_back(smartFactor1);
|
||||
|
|
@ -754,7 +805,7 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian){
|
|||
// graph.push_back(PoseTranslationPrior<Pose3>(x2, positionPrior, noisePriorTranslation));
|
||||
// graph.push_back(PoseTranslationPrior<Pose3>(x3, positionPrior, noisePriorTranslation));
|
||||
//
|
||||
// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.1,0.1,0.1)); // smaller noise
|
||||
// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.1,0.1,0.1)); // smaller noise
|
||||
// Values values;
|
||||
// values.insert(x1, pose1);
|
||||
// values.insert(x2, pose2*noise_pose);
|
||||
|
|
@ -775,7 +826,7 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian){
|
|||
//
|
||||
// // result.print("results of 3 camera, 3 landmark optimization \n");
|
||||
// if(isDebugTest) result.at<Pose3>(x3).print("Smart: Pose3 after optimization: ");
|
||||
// std::cout << "TEST COMMENTED: rotation only version of smart factors has been deprecated " << std::endl;
|
||||
// cout << "TEST COMMENTED: rotation only version of smart factors has been deprecated " << endl;
|
||||
// // EXPECT(assert_equal(pose3,result.at<Pose3>(x3)));
|
||||
// if(isDebugTest) tictoc_print_();
|
||||
//}
|
||||
|
|
@ -784,13 +835,13 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian){
|
|||
//TEST( SmartStereoProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor ){
|
||||
// // cout << " ************************ SmartStereoProjectionPoseFactor: 3 cams + 3 landmarks: Rotation Only**********************" << endl;
|
||||
//
|
||||
// std::vector<Key> views;
|
||||
// vector<Key> views;
|
||||
// views.push_back(x1);
|
||||
// views.push_back(x2);
|
||||
// views.push_back(x3);
|
||||
//
|
||||
// // create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
|
||||
// Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
|
||||
// Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1));
|
||||
// StereoCamera cam1(pose1, K);
|
||||
//
|
||||
// // create second camera 1 meter to the right of first camera
|
||||
|
|
@ -826,7 +877,7 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian){
|
|||
//
|
||||
// const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
|
||||
// const SharedDiagonal noisePriorTranslation = noiseModel::Isotropic::Sigma(3, 0.10);
|
||||
// Point3 positionPrior = gtsam::Point3(0,0,1);
|
||||
// Point3 positionPrior = Point3(0,0,1);
|
||||
//
|
||||
// NonlinearFactorGraph graph;
|
||||
// graph.push_back(smartFactor1);
|
||||
|
|
@ -836,8 +887,8 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian){
|
|||
// graph.push_back(PoseTranslationPrior<Pose3>(x2, positionPrior, noisePriorTranslation));
|
||||
// graph.push_back(PoseTranslationPrior<Pose3>(x3, positionPrior, noisePriorTranslation));
|
||||
//
|
||||
// // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
|
||||
// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/100, 0., -M_PI/100), gtsam::Point3(0.1,0.1,0.1)); // smaller noise
|
||||
// // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
|
||||
// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/100, 0., -M_PI/100), Point3(0.1,0.1,0.1)); // smaller noise
|
||||
// Values values;
|
||||
// values.insert(x1, pose1);
|
||||
// values.insert(x2, pose2);
|
||||
|
|
@ -858,7 +909,7 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian){
|
|||
//
|
||||
// // result.print("results of 3 camera, 3 landmark optimization \n");
|
||||
// if(isDebugTest) result.at<Pose3>(x3).print("Smart: Pose3 after optimization: ");
|
||||
// std::cout << "TEST COMMENTED: rotation only version of smart factors has been deprecated " << std::endl;
|
||||
// cout << "TEST COMMENTED: rotation only version of smart factors has been deprecated " << endl;
|
||||
// // EXPECT(assert_equal(pose3,result.at<Pose3>(x3)));
|
||||
// if(isDebugTest) tictoc_print_();
|
||||
//}
|
||||
|
|
@ -867,12 +918,12 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian){
|
|||
//TEST( SmartStereoProjectionPoseFactor, Hessian ){
|
||||
// // cout << " ************************ SmartStereoProjectionPoseFactor: Hessian **********************" << endl;
|
||||
//
|
||||
// std::vector<Key> views;
|
||||
// vector<Key> views;
|
||||
// views.push_back(x1);
|
||||
// views.push_back(x2);
|
||||
//
|
||||
// // create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
|
||||
// Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
|
||||
// Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), Point3(0,0,1));
|
||||
// StereoCamera cam1(pose1, K2);
|
||||
//
|
||||
// // create second camera 1 meter to the right of first camera
|
||||
|
|
@ -892,7 +943,7 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian){
|
|||
// SmartFactor::shared_ptr smartFactor1(new SmartFactor());
|
||||
// smartFactor1->add(measurements_cam1,views, model, K2);
|
||||
//
|
||||
// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.5,0.1,0.3));
|
||||
// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3));
|
||||
// Values values;
|
||||
// values.insert(x1, pose1);
|
||||
// values.insert(x2, pose2);
|
||||
|
|
@ -908,29 +959,30 @@ TEST( SmartStereoProjectionPoseFactor, CheckHessian){
|
|||
//
|
||||
|
||||
/* *************************************************************************/
|
||||
TEST( SmartStereoProjectionPoseFactor, HessianWithRotation ){
|
||||
TEST( SmartStereoProjectionPoseFactor, HessianWithRotation ) {
|
||||
// cout << " ************************ SmartStereoProjectionPoseFactor: rotated Hessian **********************" << endl;
|
||||
|
||||
std::vector<Key> views;
|
||||
vector<Key> views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
|
||||
// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
|
||||
Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
|
||||
Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
|
||||
StereoCamera cam1(pose1, K);
|
||||
|
||||
// create second camera 1 meter to the right of first camera
|
||||
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0));
|
||||
Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
|
||||
StereoCamera cam2(pose2, K);
|
||||
|
||||
// create third camera 1 meter above the first camera
|
||||
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0));
|
||||
Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0, -1, 0));
|
||||
StereoCamera cam3(pose3, K);
|
||||
|
||||
Point3 landmark1(5, 0.5, 1.2);
|
||||
|
||||
vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark1);
|
||||
vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1,
|
||||
cam2, cam3, landmark1);
|
||||
|
||||
SmartFactor::shared_ptr smartFactorInstance(new SmartFactor());
|
||||
smartFactorInstance->add(measurements_cam1, views, model, K);
|
||||
|
|
@ -940,46 +992,54 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotation ){
|
|||
values.insert(x2, pose2);
|
||||
values.insert(x3, pose3);
|
||||
|
||||
boost::shared_ptr<GaussianFactor> hessianFactor = smartFactorInstance->linearize(values);
|
||||
boost::shared_ptr<GaussianFactor> hessianFactor =
|
||||
smartFactorInstance->linearize(values);
|
||||
// hessianFactor->print("Hessian factor \n");
|
||||
|
||||
Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,0));
|
||||
Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0));
|
||||
|
||||
Values rotValues;
|
||||
rotValues.insert(x1, poseDrift.compose(pose1));
|
||||
rotValues.insert(x2, poseDrift.compose(pose2));
|
||||
rotValues.insert(x3, poseDrift.compose(pose3));
|
||||
|
||||
boost::shared_ptr<GaussianFactor> hessianFactorRot = smartFactorInstance->linearize(rotValues);
|
||||
boost::shared_ptr<GaussianFactor> hessianFactorRot =
|
||||
smartFactorInstance->linearize(rotValues);
|
||||
// hessianFactorRot->print("Hessian factor \n");
|
||||
|
||||
// Hessian is invariant to rotations in the nondegenerate case
|
||||
EXPECT(assert_equal(hessianFactor->information(), hessianFactorRot->information(), 1e-8) );
|
||||
EXPECT(
|
||||
assert_equal(hessianFactor->information(),
|
||||
hessianFactorRot->information(), 1e-7));
|
||||
|
||||
Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI/2, -M_PI/3, -M_PI/2), gtsam::Point3(10,-4,5));
|
||||
Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2),
|
||||
Point3(10, -4, 5));
|
||||
|
||||
Values tranValues;
|
||||
tranValues.insert(x1, poseDrift2.compose(pose1));
|
||||
tranValues.insert(x2, poseDrift2.compose(pose2));
|
||||
tranValues.insert(x3, poseDrift2.compose(pose3));
|
||||
|
||||
boost::shared_ptr<GaussianFactor> hessianFactorRotTran = smartFactorInstance->linearize(tranValues);
|
||||
boost::shared_ptr<GaussianFactor> hessianFactorRotTran =
|
||||
smartFactorInstance->linearize(tranValues);
|
||||
|
||||
// Hessian is invariant to rotations and translations in the nondegenerate case
|
||||
EXPECT(assert_equal(hessianFactor->information(), hessianFactorRotTran->information(), 1e-8) );
|
||||
EXPECT(
|
||||
assert_equal(hessianFactor->information(),
|
||||
hessianFactorRotTran->information(), 1e-7));
|
||||
}
|
||||
|
||||
/* *************************************************************************/
|
||||
TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ){
|
||||
TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ) {
|
||||
// cout << " ************************ SmartStereoProjectionPoseFactor: rotated Hessian (degenerate) **********************" << endl;
|
||||
|
||||
std::vector<Key> views;
|
||||
vector<Key> views;
|
||||
views.push_back(x1);
|
||||
views.push_back(x2);
|
||||
views.push_back(x3);
|
||||
|
||||
// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
|
||||
Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
|
||||
Pose3 pose1 = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
|
||||
StereoCamera cam1(pose1, K2);
|
||||
|
||||
// Second and third cameras in same place, which is a degenerate configuration
|
||||
|
|
@ -990,49 +1050,60 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotationDegenerate ){
|
|||
|
||||
Point3 landmark1(5, 0.5, 1.2);
|
||||
|
||||
vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark1);
|
||||
vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1,
|
||||
cam2, cam3, landmark1);
|
||||
|
||||
SmartFactor::shared_ptr smartFactor(new SmartFactor());
|
||||
smartFactor->add(measurements_cam1, views, model, K2);
|
||||
|
||||
|
||||
Values values;
|
||||
values.insert(x1, pose1);
|
||||
values.insert(x2, pose2);
|
||||
values.insert(x3, pose3);
|
||||
|
||||
boost::shared_ptr<GaussianFactor> hessianFactor = smartFactor->linearize(values);
|
||||
if(isDebugTest) hessianFactor->print("Hessian factor \n");
|
||||
boost::shared_ptr<GaussianFactor> hessianFactor = smartFactor->linearize(
|
||||
values);
|
||||
if (isDebugTest)
|
||||
hessianFactor->print("Hessian factor \n");
|
||||
|
||||
Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,0));
|
||||
Pose3 poseDrift = Pose3(Rot3::ypr(-M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 0));
|
||||
|
||||
Values rotValues;
|
||||
rotValues.insert(x1, poseDrift.compose(pose1));
|
||||
rotValues.insert(x2, poseDrift.compose(pose2));
|
||||
rotValues.insert(x3, poseDrift.compose(pose3));
|
||||
|
||||
boost::shared_ptr<GaussianFactor> hessianFactorRot = smartFactor->linearize(rotValues);
|
||||
if(isDebugTest) hessianFactorRot->print("Hessian factor \n");
|
||||
boost::shared_ptr<GaussianFactor> hessianFactorRot = smartFactor->linearize(
|
||||
rotValues);
|
||||
if (isDebugTest)
|
||||
hessianFactorRot->print("Hessian factor \n");
|
||||
|
||||
// Hessian is invariant to rotations in the nondegenerate case
|
||||
EXPECT(assert_equal(hessianFactor->information(), hessianFactorRot->information(), 1e-8) );
|
||||
EXPECT(
|
||||
assert_equal(hessianFactor->information(),
|
||||
hessianFactorRot->information(), 1e-8));
|
||||
|
||||
Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI/2, -M_PI/3, -M_PI/2), gtsam::Point3(10,-4,5));
|
||||
Pose3 poseDrift2 = Pose3(Rot3::ypr(-M_PI / 2, -M_PI / 3, -M_PI / 2),
|
||||
Point3(10, -4, 5));
|
||||
|
||||
Values tranValues;
|
||||
tranValues.insert(x1, poseDrift2.compose(pose1));
|
||||
tranValues.insert(x2, poseDrift2.compose(pose2));
|
||||
tranValues.insert(x3, poseDrift2.compose(pose3));
|
||||
|
||||
boost::shared_ptr<GaussianFactor> hessianFactorRotTran = smartFactor->linearize(tranValues);
|
||||
boost::shared_ptr<GaussianFactor> hessianFactorRotTran =
|
||||
smartFactor->linearize(tranValues);
|
||||
|
||||
// Hessian is invariant to rotations and translations in the nondegenerate case
|
||||
EXPECT(assert_equal(hessianFactor->information(), hessianFactorRotTran->information(), 1e-8) );
|
||||
EXPECT(
|
||||
assert_equal(hessianFactor->information(),
|
||||
hessianFactorRotTran->information(), 1e-8));
|
||||
}
|
||||
|
||||
|
||||
/* ************************************************************************* */
|
||||
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
|
||||
int main() {
|
||||
TestResult tr;
|
||||
return TestRegistry::runAllTests(tr);
|
||||
}
|
||||
/* ************************************************************************* */
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue